private StateMachine Light(UserEventType e)
{
//buzzer
switch (e)
{
case UserEventType.ESTOP:
_estopBeepCount = 0;
_estopFlashCount = 0;
DoBuzzer.All(d => d.Value.SetDo(true));
break;
case UserEventType.ESTOPOFF:
_estopBeepCount = 0;
_estopFlashCount = 0;
DoBuzzer.All(d => d.Value.SetDo(false));
break;
case UserEventType.STOP:
//Beep();
break;
}
//light
switch (e)
{
case UserEventType.START:
case UserEventType.CONTINUE:
_runningFlashCount = 0;
DoLightRed.All(d => d.Value.SetDo(false));
DoLightYellow.All(d => d.Value.SetDo(false));
DoLightGreen.All(d => d.Value.SetDo(true));
break;
case UserEventType.ESTOP:
case UserEventType.ESTOPOFF:
case UserEventType.STOP:
case UserEventType.AUTO:
DoLightRed.All(d => d.Value.SetDo(true));
DoLightYellow.All(d => d.Value.SetDo(false));
DoLightGreen.All(d => d.Value.SetDo(false));
break;
case UserEventType.PAUSE:
DoLightRed.All(d => d.Value.SetDo(false));
DoLightYellow.All(d => d.Value.SetDo(false));
DoLightGreen.All(d => d.Value.SetDo(true));
break;
case UserEventType.RESET:
case UserEventType.MANUAL:
_resettingFlashCount = 0;
DoLightRed.All(d => d.Value.SetDo(false));
DoLightYellow.All(d => d.Value.SetDo(true));
DoLightGreen.All(d => d.Value.SetDo(false));
break;
}
return(this);
}
public void Beep()
{
lock (this)
{
DoBuzzer.All(d => d.Value.SetDo(true));
Thread.Sleep(500);
DoBuzzer.All(d => d.Value.SetDo(false));
}
}
/// <summary>
/// 初始化, 开启主线程
/// </summary>
public virtual void Initialize()
{
DoLightRed.All(d => d.Value.SetDo(false));
DoLightYellow.All(d => d.Value.SetDo());
DoLightGreen.All(d => d.Value.SetDo(false));
DoBuzzer.All(d => d.Value.SetDo(false));
_isrunning = true;
_mainThread = new Thread(runStateMachineLoop);
_mainThread.IsBackground = true;
_mainThread.Start();
}
/// <summary>
/// 终止, 结束主线程
/// </summary>
public virtual void Terminate()
{
PostEvent(UserEventType.STOP, this);
//make sure all events handled
_isrunning = false;
if (_mainThread.IsAlive)
{
_mainThread.Join();
}
DoLightRed.All(d => d.Value.SetDo(false));
DoLightYellow.All(d => d.Value.SetDo(false));
DoLightGreen.All(d => d.Value.SetDo(false));
DoBuzzer.All(d => d.Value.SetDo(false));
}
/// <summary>
/// 更新设备状态
/// </summary>
private void runRunStateMachine()
{
switch (RunState)
{
case RunState.ESTOP:
if (DiEstop.Count > 0 && DiEstop.All(e => !e.Value.GetDiSts()))
{
PostEvent(UserEventType.ESTOPOFF, this);
return;
}
//stop estop buzzer on timeout
if (_estopBeepCount++ > 100)
{
_estopBeepCount = 100;
DoBuzzer.All(d => d.Value.SetDo(false));
}
if (_estopFlashCount++ > 40)
{
_estopFlashCount = 0;
DoLightRed.All(d => d.Value.Toggle());
DoLightYellow.All(d => d.Value.SetDo(false));
DoLightGreen.All(d => d.Value.SetDo(false));
}
break;
case RunState.ERROR:
if (DiEstop.Count > 0 && DiEstop.Any(e => e.Value.GetDiSts()))
{
_estopBeepCount = 0;
PostEvent(UserEventType.ESTOP, this);
OnShowAlarmEvent($"{RunState} 急停信号 {string.Join(",", DiEstop.Select(d => d.Value.Description))} 某一信号触发", LogLevel.Error);
return;
}
else if (DiReset.Count > 0 && DiReset.Any(e => e.Value.GetDiSts()))
{
PostEvent(UserEventType.RESET, this);
return;
}
break;
case RunState.MANUAL:
if (DiEstop.Count > 0 && DiEstop.Any(e => e.Value.GetDiSts()))
{
PostEvent(UserEventType.ESTOP, this);
OnShowAlarmEvent($"{RunState} 急停信号 {string.Join(",", DiEstop.Select(d => d.Value.Description))} 某一信号触发", LogLevel.Error);
return;
}
else if (DiAuto.Count > 0 && DiAuto.Any(e => e.Value.GetDiSts()))
{
PostEvent(UserEventType.AUTO, this);
return;
}
if (_resettingFlashCount++ > 40)
{
_resettingFlashCount = 0;
DoLightRed.All(d => d.Value.SetDo(false));
DoLightYellow.All(d => d.Value.Toggle());
DoLightGreen.All(d => d.Value.SetDo(false));
}
break;
case RunState.AUTO:
if (DiEstop.Count > 0 && DiEstop.Any(e => e.Value.GetDiSts()))
{
PostEvent(UserEventType.ESTOP, this);
OnShowAlarmEvent($"{RunState} 急停信号 {string.Join(",", DiEstop.Select(d => d.Value.Description))} 某一信号触发", LogLevel.Error);
return;
}
runRunningStateMachine();
break;
}
}
public override void Load()
{
if (!Directory.Exists(@".\Config"))
{
Directory.CreateDirectory(@".\Config");
}
//load all settings!!!
try
{
Settings = DemoMachineSettings.Load(@".\Config\Settings.cfg");
}
catch (Exception ex)
{
MessageBox.Show($"加载配置文件失败：{ex.Message}");
}
if (Settings == null)
{
Settings = new DemoMachineSettings();
Settings.Save(@".\Config\Settings.cfg");
}
//try
//{
// Import();
//}
//catch (Exception ex)
//{
// MessageBox.Show($"导入设备参数失败：{ex.Message}");
//}
//load drivers
Motion1 = new MotionCardWrapper(new VirtualCard());
VIO = new MotionCardWrapper(new VirtualCard());
MotionExs.Add(1, Motion1);
MotionExs.Add(2, VIO);
//load di do axis
DiExs.Add(1, new DiEx()
{
Driver = Motion1
});
DoExs.Add(1, new DoEx()
{
Driver = Motion1
});
CylinderExs.Add(1, new CylinderEx()
{
Driver1 = Motion1, Driver2 = Motion1
});
AxisExs.Add(1, new AxisEx()
{
Driver = Motion1
});
//load station task
var station1 = new Station(1, "Station1", this);
var testTask1 = new TestTask1(1, "Test1", station1);
//bind signals
if (!FrameworkManager.IsSimulate)
{
// todo : to add signal configs
//estop
DiEstop.Add(2, new DiEx()
{
Driver = Motion1
});
//start/stop/reset button
DiStart.Add(1, new DiEx()
{
Driver = Motion1
});
DiStop.Add(1, new DiEx()
{
Driver = Motion1
});
DiReset.Add(1, new DiEx()
{
Driver = Motion1
});
//start/stop/reset button lamp
DoLightGreen.Add(1, new DoEx()
{
Driver = Motion1
});
DoLightRed.Add(1, new DoEx()
{
Driver = Motion1
});
DoLightYellow.Add(1, new DoEx()
{
Driver = Motion1
});
//lamp
DoLightGreen.Add(2, new DoEx()
{
Driver = Motion1
});
DoLightRed.Add(2, new DoEx()
{
Driver = Motion1
});
DoLightYellow.Add(2, new DoEx()
{
Driver = Motion1
});
DoBuzzer.Add(1, new DoEx()
{
Driver = Motion1
});
//station pause signals
Stations[1].PauseSignals.Add(1, new DiEx()
{
Driver = Motion1
});
}
}
